CN106802655A - Indoor map generation method and device - Google Patents
Indoor map generation method and device Download PDFInfo
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- CN106802655A CN106802655A CN201611084393.4A CN201611084393A CN106802655A CN 106802655 A CN106802655 A CN 106802655A CN 201611084393 A CN201611084393 A CN 201611084393A CN 106802655 A CN106802655 A CN 106802655A
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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Abstract
Present disclose provides a kind of indoor map generation method and device, wherein, the method includes：The indoor map for describing indoor environment is shown, the type of the indoor map is grating map；Indoor environment is divided into the map partitioning operation of multiple room areas in response to user, indoor map is divided into multiple room areas according to map partitioning operation；And, the room area belonging to correspondence grid cell is marked in the corresponding grating map data of each room area, obtain being marked with the grating map data of multiple room areas.The disclosure, realizes user to indoor map zoning, increased the information of room area in map indoors, is conducive to improving the interactive experience of autonomous formula equipment.
Description
Technical field
This disclosure relates to indoor map technical field, more particularly to a kind of indoor map generation method and device.
Background technology
In correlation technique, there are multiple technologies to set up indoor map.However, the indoor map of correlation technique is often only wrapped
Contained in map by region and barrier region, or can describe indoor environment with features such as point-line-surfaces, or with topology
Mode represents the connectedness of indoor environment.The shortcoming of these indoor maps is that the information for including is single, be only set up map from
Understanding of the main mobile unit to environment, it is difficult to meet the man-machine interaction demand of autonomous formula equipment.Especially it is the absence of to room
The understanding of interior environment.
The content of the invention
Present disclose provides a kind of indoor map generation method and device, to solve indoor map information in the prior art
Single technical problem.
In one aspect, present disclose provides a kind of indoor map generation method, the method includes：Show for describing room
The indoor map of interior environment, the type of the indoor map is grating map；Indoor environment is divided into multiple rooms in response to user
The map partitioning operation of inner region, multiple room areas are divided into according to map partitioning operation by indoor map；And, every
The room area belonging to correspondence grid cell is marked in the corresponding grating map data of individual room area, obtains being marked with multiple rooms
The grating map data of inner region.
In some examples, grating map data include multiple grid cells, each grid cell one grid number of correspondence
According to each raster data includes various different types of information, and information type includes：By type and affiliated room area；Its
In, the room area belonging to grid cell is marked in the corresponding information of affiliated room area of grid cell.
In some examples, the interior belonging to grid cell is marked in the corresponding grating map data of each room area
Region, including：Generate the room area mark of each room area；And, the room area of each room area is identified into mark
Note is indoors in the raster data of the corresponding grid cell in region.
In some examples, also include：Obtain the description information of room area；And, set up room area mark and retouch
State the incidence relation of information.
In some examples, indoor environment is divided into the map partitioning operation of multiple room areas, bag in response to user
Include：Detect the contact with indoor map；And if the track contacted while continuous contact is detected meets default map
Indoor map is divided into multiple room areas by division condition, the track according to contact.
In some examples, presetting map partitioning condition includes：The track of contact constitutes enclosed area with indoor environment border
The region that the track of domain or contact constitutes the track covering of closed area or contact in itself meets default.
In some examples, the track of the contact is shown while continuous contact is detected.
In another aspect, present disclose provides a kind of indoor map generating means, including：Display module, for showing
Indoor map for describing indoor environment, wherein, the type of the indoor map is grating map；Division module, for responding
Indoor environment is divided into the map partitioning operation of multiple room areas in user, is operated indoor map according to the map partitioning
It is divided into multiple room areas；And, mark module is right for being marked in the corresponding grating map data of each room area
The room area belonging to grid cell is answered, obtains being marked with the grating map data of multiple room areas.
In some examples, grating map data include multiple grid cells, each grid cell one grid number of correspondence
According to each raster data includes various different types of information, and information type includes：By type and affiliated room area；Its
In, the mark module is used to mark the indoor area belonging to grid cell in the corresponding information of affiliated room area of grid cell
Domain.
In some examples, mark module is used to generate the room area mark of each room area；And, by each room
The room area of inner region is marked in the raster data of the corresponding grid cell of room area.
In some examples, the device also includes：Acquisition module, the description information for obtaining room area；And, close
Gang mould block, the incidence relation for setting up room area mark and description information.
In some examples, division module, for detecting the contact with indoor map；And, detecting continuous contact
If while the contact track meet default map partitioning condition, be divided into for indoor map many by the track according to contact
Individual room area.
In some examples, presetting map partitioning condition includes：The track of contact constitutes enclosed area with indoor environment border
The region that the track of domain or contact constitutes the track covering of closed area or contact in itself meets default.
In some examples, display module is additionally operable to be shown while continuous contact is detected the track of contact.
The disclosure, realizes user to indoor map zoning, increased the information of room area in map indoors,
Be conducive to improving the interactive experience of autonomous formula equipment.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, not
Constitute limitation of the invention.In the accompanying drawings：
Fig. 1 is a kind of schematic diagram of communication system 100 of the disclosure；
Fig. 2 is a kind of schematic diagram of autonomous formula equipment 110 of the disclosure；
Fig. 3 is the flow chart of the method for the indoor map that a kind of display that the disclosure is provided has much information type；
Fig. 4 is the structured flowchart of the device of the indoor map that a kind of display that the disclosure is provided has much information type；
Fig. 5 is a kind of indoor map control autonomous formula equipment used with much information type that the disclosure is provided
Method flow chart；
Fig. 6 is a kind of indoor map control autonomous formula equipment used with much information type that the disclosure is provided
Device structured flowchart；
Fig. 7 is a kind of autonomous formula equipment using the indoor map with much information type that the disclosure is provided
Schematic diagram；
Fig. 8 is the flow chart of the method for the indoor map that a kind of transmission that the disclosure is provided has much information type；
Fig. 9 is the flow chart of the method for the indoor map that a kind of generation that the disclosure is provided has much information type；
Figure 10 is the structured flowchart of the device of the indoor map that a kind of transmission that the disclosure is provided has much information type；
Figure 11 is the structured flowchart of the device of the indoor map that a kind of generation that the disclosure is provided has much information type；
Figure 12 is the flow chart of the method for the indoor map that a kind of generation that the disclosure is provided has semantic description；
Figure 13 is the schematic diagram of an indoor environment of the disclosure；
Figure 14 is the schematic diagram of the grating map of the disclosure；
Figure 15 is the flow chart of the method for another indoor map of the generation with semantic description that the disclosure is provided；
Figure 16 is the structured flowchart of the device of the indoor map that a kind of generation that the disclosure is provided has semantic description；
Figure 17 is the structured flowchart of the device of another indoor map of the generation with semantic description that the disclosure is provided；
Figure 18 is a kind of flow chart for editing the method for indoor map that the disclosure is provided；
Figure 19 is a kind of flow chart for limiting the method for autonomous formula equipment moving range that the disclosure is provided；
Figure 20 is a kind of structured flowchart for editing the device of indoor map that the disclosure is provided；
Figure 21 is a kind of structured flowchart for limiting the device of autonomous formula equipment moving range that the disclosure is provided；
Figure 22 is a kind of flow chart for controlling the method for autonomous formula robot that the disclosure is provided；
Figure 23 is a kind of structured flowchart for controlling the device of autonomous formula robot that the disclosure is provided；
Figure 24 is the flow chart of the method for the indoor map that a kind of generation that the disclosure is provided includes multiple room areas；
Figure 25 is the structured flowchart of the device of the indoor map that a kind of generation that the disclosure is provided includes multiple room areas；
Figure 26 is the flow chart of the method for indoor map of another generation comprising multiple room areas that the disclosure is provided；
Figure 27 is the structural frames of the device of indoor map of another generation comprising multiple room areas that the disclosure is provided
Figure；
Figure 28 be the disclosure provide another kind be used for control autonomous formula equipment method flow chart；
Figure 29 be the disclosure provide another kind be used for control autonomous formula equipment device structured flowchart；
Figure 30 is that a kind of indoor map control autonomous formula used with much information type that the disclosure is provided sets
The flow chart of standby method；
Figure 31 is a kind of flow chart of the method for use room area control autonomous formula equipment that the disclosure is provided；
Figure 32 is the flow chart of another method using room area control autonomous formula equipment that the disclosure is provided；
Figure 33 is a kind of flow chart of method using semantic title control autonomous formula equipment that the disclosure is provided；
Figure 34 is that a kind of indoor map control autonomous formula used with much information type that the disclosure is provided sets
The structured flowchart of standby device；
Figure 35 is a kind of flow chart of the method for use computing device control autonomous formula equipment that the disclosure is provided；
Figure 36 is the flow chart of another method using computing device control autonomous formula equipment that the disclosure is provided；
Figure 37 is a kind of flow chart of the method for Voice command autonomous formula equipment that the disclosure is provided；
Figure 38 is a kind of structured flowchart of computing device that the disclosure is provided；
Figure 39 is a kind of structured flowchart of autonomous formula equipment that the disclosure is provided；
Figure 40 is the structured flowchart of another autonomous formula equipment that the disclosure is provided；
Figure 41 is the flow chart of the method that a kind of user that the disclosure is provided passes through user terminal editor's indoor map；
Figure 42 is the flow chart of the method for a kind of user that the disclosure is provided and autonomous formula equipment interactive voice；
Figure 43 is the flow of the method that a kind of user that the disclosure is provided controls autonomous formula equipment by user terminal
Figure；
Figure 44 is a kind of method of the operating point of utilization indoor map planning autonomous formula equipment that the disclosure is provided
Flow chart；And
Figure 45 is a kind of device of the operating point of utilization indoor map planning autonomous formula equipment that the disclosure is provided
Structured flowchart.
Specific embodiment
It is right with reference to implementation method and accompanying drawing to make the object, technical solutions and advantages of the present invention become more apparent
The present invention is described in further details.Here, exemplary embodiment of the invention and its illustrating for explaining the present invention, but simultaneously
It is not as a limitation of the invention.
Here, through following description, term " equipment " " device " be disclosed as by different parts it is different encapsulation and/or
Together or it is implemented separately in position.Only as an example, each equipment/system or method can be by one or more processing units
Part/device is controlled or realized by distributed network.
Fig. 1 is a kind of schematic diagram of communication system 100 of the disclosure.
As shown in figure 1, the system 100 may include：Autonomous formula equipment 110, computing device 120 and computing device 130,
And one or more servers 140, system 100 is also including private network 150 and public network 160.
Autonomous formula equipment 110 can be by private network 150 and on public network 160 computing device 130 and/
Or one or more servers 140 communicate, autonomous formula equipment 110 also by private network 150 and can be located at private network
Computing device 120 communicate.Computing device 120 can be communicated by private network 150 with autonomous formula equipment 110, can also be led to
Cross private network 150 to be communicated with public network 160, and then communicated with autonomous formula equipment 110.
In certain embodiments, computing device 120 and 130 include personal computer (PC), mobile terminal, kneetop computer,
Various types of equipment such as panel computer.Computing device 120 and 130 can also include autonomous formula equipment, such as intelligent machine
Device people etc..In some examples, autonomous formula equipment 110 can communicate with computing device 120 and 130, with to computing device 120
Information are sent with 130, or from the receive information of computing device 120 and 130.
Autonomous formula equipment 110 includes the equipment such as clean robot, security robot, but not limited to this, and other can be certainly
The equipment of main movement is also feasible.In some examples, autonomous formula equipment 110 can gather environmental information, and according to
The environmental information for collecting sets up map, and can position itself position in the environment, using map contexture by self mobile route,
With autonomous in environment indoors.
In certain embodiments, autonomous formula equipment 110 can carry out map structuring and positioning.In order to obtain robot
Pose and environmental map, autonomous formula equipment 110 can possess the related sensor that can perceive the external world.According to autonomous shifting
Sensor information acquisition methods two classes of classification that dynamic formula equipment 110 is used in navigation：One class is realized using internal sensor
Acquisition of information, it can perceive autonomous formula equipment 110 motion itself.This sensor includes but is not limited to compass, mileage
Meter etc., these sensors are generally to autonomous formula equipment 110 together with autonomous formula equipment 110 motion model of itself
Position is predicted estimation, based on dead reckoning method etc., for tracking the movement locus of autonomous formula equipment 110.It is another
Class is to realize acquisition of information using external sensor, and it is mainly used in being observed external environment condition, be complete map structuring,
The main tool of avoidance, positioning etc..This kind of sensor can include but is not limited to laser range finder, sonar ranging instrument, ultrasonic wave,
Infrared technique and video camera etc..
Autonomous formula equipment 110 can independently explore indoor environment, set up the indoor map for describing indoor environment.
In some embodiments, indoor map may include scale map or topological map, and its medium scale maps can be divided into grating map
(Grid Map) and geometric properties map.Whole environment is divided into cartographic representation based on grid the grid of some formed objects
Lattice, point out wherein there is barrier for each grid.It should be appreciated that being here only to the schematic of indoor map
Illustrate, the indoor map of other forms also can be use.In some examples, using sonar or this kind of distance of laser radar
The information that sensor obtains barrier is simultaneously added in map, the information of each grid directly with environment in certain region pair
Should.
Server 140 can communicate with autonomous formula equipment 110 and computing device 130 and 140, be set with from autonomous formula
Standby 110 and the receive information of computing device 130 and 140, or send letter to autonomous formula equipment 110 and computing device 130 and 140
Breath.For example, server 140 can receive the data that the various sensor collections of autonomous mobile unit 110 are arrived, according to these data
In at least partly produce to the control data of autonomous formula equipment 110, server 140 sends to autonomous control data
Formula equipment 110.
One or more servers 140 may include speech recognition server, and speech recognition server receives autonomous portable
The voice data of equipment 110, identification obtains the corresponding text message of voice data, and can will recognize that the text message for obtaining sends
To autonomous formula equipment 110.Additionally, one or more servers 140 can also recognize speaker according to vocal print etc..
One or more servers 140 may include semantic analysis server, and semantic analysis server can enter to text message
Row semantic analysis, therefrom extracts including task or the information such as position or time, to produce the control to autonomous formula equipment 110
System order so that the voice responsive of autonomous formula equipment 110 is interacted.
One or more servers 140 may include image recognition server, and image recognition server can recognize that autonomous
Information in the image that the camera of formula equipment 110 is collected, the people, article, animal in identification image etc., and will can know
The information being clipped to is supplied to autonomous formula equipment 110.Image recognition server can use face recognition technology, be known according to face
Others' identity.
One or more servers 140 may include video processing service device, and video processing service device can be stored and processed certainly
The video that the camera of main mobile unit 110 is collected, and video can be supplied to autonomous formula equipment 110 and/or meter
Calculation equipment 130 and 140.
It should be appreciated that Fig. 1 is not the limitation to the quantity or component of equipment, system 100 may include less or less
Component.For example, system 100 may not include public network 160, autonomous formula equipment 110 can be by private network 150
Communicated with computing device 130.Or, system 100 may not include server 140.Or, system 100 may include more calculating
Equipment 130 or more autonomous formula equipment 110.
Fig. 2 is a kind of schematic diagram of autonomous formula equipment 110 of the disclosure.
As shown in Fig. 2 autonomous formula equipment 110 may include：Controller 20, range sensor 21, driver element 24, deposit
Reservoir 25 and transmitter 26.It should be understood that the only property explanation as an example of autonomous formula equipment 110 shown in Fig. 2, is not
Restriction of this disclosure, other feasible autonomous formula equipment 110 can also be applied to the disclosure.
Controller 20 may include one or more processing units and its peripheral circuit, and processing unit and peripheral circuit have phase
The communication interface answered is carrying out data transmission.
Transmitter 26 can send information by antenna (not shown in Fig. 2), and be sent by antenna reception to controller 20
Information.
Driver element 24 is moved including motor etc. with driving moving parts (not shown in Fig. 2) to produce.Driver element 24 can
Driving instruction is received from controller 20, drives moving parts to produce movement according to driving instruction.In some examples, moving parts
Wheel type mobile part, walking moving parts (single-leg type, both legs formula and many leg formulas) can be included, crawler-type mobile part, creeped
The types such as formula moving parts, creeping motion type moving parts and swimming type moving parts, but not limited to this.In some examples, drive
Unit 24 can also provide feedback information to controller 20.In addition, driver element 24 may also include motor etc. drives limbs (in Fig. 2
It is not shown), the part generation such as cleaning module (not shown in Fig. 2) action.
In some examples, autonomous formula equipment 110 may also include detection of obstacles sensor 22.Detection of obstacles is passed
Sensor 22 may include infrared sensor/infrared sensor group, ultrasonic sensor etc..Detection of obstacles sensor 22 can launch and
Signal is received, and sends the signal to controller 20, controller 20 judges whether barrier according to signal.In some examples
In, signal can be launched and be received to detection of obstacles sensor 22, and judge whether barrier according to signal, and will determine that knot
Fruit is sent to controller 20.But the disclosure is not limited to this.
In some examples, autonomous formula equipment 110 may also include displacement detection unit 23.Displacement is detected
Unit 23 can be using for detecting that wheel rotates the rotation detection sensor of the number of turns.For example, rotation detection sensor can be adopted
With the encoder of the rotation number of turns for detecting motor.In some examples, displacement detection unit 23 can be using acceleration
Degree sensor and gyroscope carry out estimated moving distance.It should be appreciated that in the disclosure can also using other feasible movements away from
From detection unit, above example is only illustrated as distance, is not restriction of this disclosure.
In some examples, autonomous formula equipment 110 can also include microphone or microphone array (hereinafter referred to as wheat
Gram wind 26).Microphone 26 can gather sound, and voice signal is sent into controller 20 after voicefrequency circuit treatment.Controller
20 may include speech recognition component, and sound-content is recognized through speech recognition algorithm, can also be by the feature recognition speaker such as vocal print.
Additionally, microphone array may also provide orientation where sound source.Microphone 26 can also use speech enhancement technique, improve voice collecting
Effect.
In some examples, autonomous formula equipment 110 may also include loudspeaker 27.Controller 20 is by audio signal to loudspeaker
27 playing sound.Controller 20 can provide digital audio and video signals, and the audio frequency processing circuit of the correlation of loudspeaker 27 is believed DAB
Number digital-to-analogue conversion is carried out, obtain simulated audio signal, the electric signal of simulated audio signal is converted into voice signal by loudspeaker 27.
In some examples, autonomous formula equipment 110 can also include display screen 28.In some examples, display screen
28 can use touch-sensitive display, as long as touch-sensitive display can allow user lightly to be touched on display screen with finger or other media
Figure (icon or word etc.) can be achieved with input operation, so broken away from keyboard and mouse action, make man-machine interaction more
Bluntly.It should be appreciated that the disclosure is not limited to this.
Autonomous formula equipment 110 can explore indoor environment, and set up the indoor map for describing indoor environment.At this
In open, illustrated as a example by the environment sensing sensor as a example by using range sensor 21.As shown in Fig. 2 autonomous
Formula equipment 110 may include range sensor 21.
In some examples, range sensor 21 can use laser diode using laser range finder, laser range finder
Launch and receive light pulse to find range.Laser distance measurement method can be based on TOF (time of flight) technology, and emission system sends
One signal, is collected after being reflected through target by reception system, and the distance of target is determined by the run time for measuring reflected light.From
The signal that main mobile unit 110 can be gathered according to laser range finder, using positioning immediately and map structuring (simultaneous
Localization and mapping, referred to as SLAM) technology sets up indoor map.
In some examples, range sensor 21 can use sonar sensor.Sonar can be found range using pulse ranging method.Arteries and veins
Rush telemetry and be based on TOF technologies, that is, launch a pulse signal and receive its echo again, calculated according to the time difference to destination object
Range information.Multiple sensor arrangements can be obtained the range information in plane in different directions in the application.It is autonomous to move
The signal that dynamic formula equipment 110 can be gathered according to sonar, indoor map is set up using SLAM technologies.
In some examples, autonomous formula equipment 110 can also use vision sensor.Vision sensor is by environment
Optical signal is converted into electric signal.Vision sensor can be divided into barrage vision, binocular vision by the vision sensor number according to using
The vision systems such as feel, trinocular vision and mixing vision.Illustrated by taking stereoscopic vision as an example below, stereoscopy passive ranging is to utilize
The vision system of camera composition known to two mutual alignments, according to the parallaxometer that same scenery is imaged on two cameras
The depth of scenery is calculated, so as to obtain its range information.
In some examples, autonomous formula equipment 110 can merge the data of multiple sensors to position and create map.
As an example, multiple sensor integrated method can use weighted average, Kalman filtering, Bayesian Estimation, statistical decision theory, card
It is theorized that, the method such as production rule.In addition, can also be using intelligence computation methods such as fuzzy logic and neutral nets.
It is not to autonomous formula equipment 110 it should be appreciated that positioning above and building drawing method only property explanation as an example
Create the restriction of map.In fact, various known methods are also feasible in correlation technique, will not be repeated here.The disclosure
Technology afterwards be equally applicable to autonomous formula equipment 110 carry out robot localization and create map, the disclosure to this not
Limit.
Each grid cell only represents the probability that there is barrier in grating map in correlation technique, if there is possible
Property, barrier (or for that can not pass through) is recorded as in the data of grid cell, if there is no barrier, in grid cell
Data in be recorded as passing through.Its grid cell includes to pass through and barrier two types, the raster data of grid cell
For that can pass through and the type in barrier.
Present disclose provides a kind of grating map, the grating map data include multiple grid cells, each grid cell
One raster data of correspondence, each raster data includes various different types of information, and every kind of information type represents at least one
Information.By the grating map, for autonomous formula equipment provides more rich information, autonomous formula equipment can be improved
Experience.Various different types of information are recorded in the raster data of each grid cell, autonomous formula equipment can be reduced
The amount of calculation of the various information for the treatment of.
Used as an example, the raster data of grid cell is represented by multiple data segments, is recorded in each data segment
A kind of value of information type.Wherein, different pieces of information section can have identical or different length, and the disclosure is not limited this.
It should be appreciated that the other method for being able to record that polytype information of grid cell is also feasible, the present embodiment to this not
Limit.
In some examples, a kind of information type of grid cell is grid cell by type, can be wrapped by type
Include barrier (or for that can not pass through) and can pass through.The grid cell of barrier corresponds to autonomous type mobile device in environment
Position where 110 articles that cannot be walked etc., it is feasible that the grid cell that can pass through corresponds to autonomous formula equipment 110
The position walked.In the related art, it is necessary to artificially limit the moving range of autonomous formula equipment 110, for example, sometimes may be used
Can limit autonomous formula equipment 110 and enter the regions such as kitchen or toilet.
In correlation technique, autonomous formula equipment 110 is avoided to enter magnetic using the devices such as magnetic stripe are installed in interior environment
Region where the devices such as bar.But this method needs to install some devices, and these devices often install inconvenience, and destroy room
The aesthetic property of interior environment.
Present disclose provides except barrier and in addition to can passing through by type, hereon referred to as limitation passes through.In the disclosure
In, included by type：Barrier, can by and at least one limitation pass through.It should be appreciated that limitation is by being not limited to one
Value or one kind, according to the requirement that limitation passes through, can there is multiple values or various.Different values can correspond to different limits
System.For example, limitation is by that can distinguish the limitation of walking and the limitation of clean up task, if limitation passes through to be the limitation of walking,
When performing clean up task, autonomous formula equipment 110 can pass through；If limitation is performing row by the limitation for clean up task
When walking task, autonomous formula equipment 110 can pass through.It should be appreciated that herein by way of example only, the disclosure is not limited to this.
It should be appreciated that those skilled in the art, can be arranged as required to one or more limitation and pass through.
The map that autonomous formula equipment 110 is created describes indoor environment, but map is that autonomous formula equipment 110 is felt
What the environmental information for perceiving was created, in map and not comprising understanding of the mankind to environment.For example, the mankind to indoor environment often
Multiple regions are divided into, kitchen, toilet, one or more bedrooms are generally divided into by taking home environment as an example, in family.But certainly
Environmental information becomes the region being made up of grid in the map that main mobile unit 110 is created, and does not possess these partition informations.
In some examples, for grating map provides area information.In some examples, in the grid number of grid cell
It is used to record the information type of the room area belonging to grid cell defined in.The information type can record retouching for room area
State the mark (ID) of information and/or room area.What autonomous formula equipment 110 can determine according to the information of the information type
Room area.By this way, the zoning concept of room area can be incorporated in grating map, at least beneficial to autonomous
The man-machine interaction experience of formula equipment 110.
In some examples, it is the grid cell set that can pass through that room area can be constrained to pass through type, will be by class
Type is that the grid cell set that can pass through is divided into multiple room areas.In some examples, room area may include by class
Type is that can be drawn with the closer room area of indoor environment by the way that the example is available by the grid cell set with barrier
Point.
The grid cell of grating map and position in environment have a corresponding relation, but autonomous formula equipment 110 is set up
Map is without the understanding to position.For example, the position in indoor environment where " bed " is for autonomous formula equipment 110
Speech, is only " barrier ", without semantic meaning.
In some examples, for grating map provides semantic title.Can be by grid cell and semanteme by semantic title
Meaning is associated, and semantic title can be related to the article in indoor environment or position, but not limited to this.For example, can be by where " bed "
The grid cell aggregated label of position is " bed ", so as to increase Item Information in grating map, and according to the position of grid
Also include position of the bed in map in map.Or, it is " window " by the grid cell aggregated label of " window " position.Example again
Such as, semantic title can be defined for a certain position, so this position there can be semantic meaning.In grating map, grid cell
Raster data include, for representing the information type of semantic title, semanteme title can record in data segment.In some examples
In, semantic title can be recorded in the data segment in itself or the mark of semantic title, the disclosure is not limited this.
It should be appreciated that illustrate only information type in above-mentioned example including grid cell by type, grid cell institute
At least one of corresponding semantic title of the room area of category, grid cell or any combination.But the present embodiment is not limited to this,
Actually other feasible information types are also that can be conceived by those skilled in the art.
In the disclosure, there is provided a kind of method for showing indoor map on the computing device, as shown in figure 3, should
Method includes step 302 to step 304.
Step 302, obtains the grating map data for describing indoor environment, wherein, the grating map data include many
Individual grid cell, each grid cell one raster data of correspondence, each raster data includes various different types of information, often
Plant information type and represent at least one information.
In some examples, the information type of the raster data of grid cell include grid cell by type, grid
At least one of corresponding semantic title of room area, grid cell belonging to unit or any combination.As an example, every kind of letter
One or more in the desirable multiple values of information of breath type.Alternatively, much information type can be according to pre- in each raster data
Define sequential arrangement.
In some examples, grid cell include but is not limited to pass through by unit, barrier, at least one limitation
At least one of pass through or any combination.
Step 304, shows indoor map on the display of computing device, and wherein indoor map includes much information type
Corresponding information.
In the present embodiment, the information for being shown on the display of computing device includes the corresponding part of multiple information types
Or full detail.For example, corresponding information can be shown according to the display pattern of indoor map, also can display portion or whole letters
Breath, the present embodiment is not limited this.
For example, indoor map may include multiple display patterns, different pattern correspondences shows the information of different information types,
Or, different patterns use different visual elements, but not limited to this for the information of identical information type.Each pattern
One or more information can be shown.In some examples, the letter that indoor map is included can be shown according to the selection to display pattern
Breath.
In some examples, grating map data are can read, the coordinate system informations in grating map data are set up and sat
Mark system, determines the position of each grid cell.For example, grating map data may include origin, length and the width and grid of map
Unit, grid cell one raster data of correspondence.In some examples, the grid cell in grating map constitutes array, array
In each element be the corresponding raster data of grid cell.
The raster data of each grid cell is read, the much information that grid cell is included is obtained, with computing device
At least part of information in much information is shown on display.
For example, read grid cell by type, obtain grid cell by type, by different visual elements
Distinguish the different grid cells by type.Certainly, the grid cell that difference passes through type as needed, it is also possible to by identical
Visual elements show that the present embodiment is not limited this.
For example, the information type for representing the affiliated room area of grid cell of grid cell is read, by different
Visual elements distinguish the grid cell of different room areas, for example, the grid cell correspondence different colours of different room areas
Visual elements.Certainly, the grid cell of different room areas as needed, it is also possible to shown by identical visual elements, this
Embodiment is not limited this.
For example, the information type of the semantic title for representing grid cell of grid cell is read, by visual elements
Mark these grid cells corresponding position over the display.
In some examples, in grating map data, much information type is according to predefined procedure arrangement, position and info class
Type correspondence, can in the raster data of grid cell relevant position read corresponding information type information.As an example, such as table 1
Shown, the raster data of grid cell may include by type, room area, three information types of semantic description, each information
Type corresponds to the data segment of predetermined length.Or separation separator, the number of each information type can be set between information type
Be may be the same or different according to segment length.It should be appreciated that being illustrative only herein, the disclosure is not limited to this.
The raster data table of table 1
| By type | Room area | Semantic description |
In some examples, the raster data of grid cell includes information type mark and information value, can be according to information
Type identification determines the implication of information.It should be appreciated that being illustrative only herein, the disclosure is not limited to this.As one
Example, raster data can be expressed as follows：{A：" value ", B：" value ", C：" value " }, wherein, A, B, C are information type
Mark, " value " is the value of each information type.
In some examples, for identifying the recordable interior dummy section of the information type of the room area belonging to grid cell
Title, can by the title of room area include in the corresponding region of grid cell of same room area, the name of room area
Claim cocoa to connect to be read from raster data.
In some examples, for identifying the recordable interior dummy section of the information type of the room area belonging to grid cell
Mark.According to the mark of room area and the incidence relation of the title of room area, the mark correspondence of room area can be searched
Room area title, or the corresponding room area of title of room area mark.In the grid of same room area
The corresponding region of unit shows the title of room area.By this way, when the title of room area needs modification, can close
The title of room area is replaced with into new title in connection relation, and the raster data of grid cell need not be changed, can at least subtracted
Few data processing amount.It should be appreciated that the present embodiment is not limited to this.
In some examples, for identifying the recordable semanteme title of the information type of the semantic title of grid cell in itself,
Also can record the mark of semanteme title.Semantic title can be included in the region where the grid cell of same semantic title.Language
Adopted title can read from raster data, it is also possible to mark and the incidence relation of semantic title according to semantic title, determine grid
The semantic title of lattice unit.It should be appreciated that the present embodiment is not limited to this.
In the disclosure, there is provided a kind of device for showing indoor map on the computing device, as shown in figure 4, should
Device includes：Acquisition module 402, for obtaining the grating map data for describing indoor environment, wherein, the grating map number
According to including multiple grid cells, each grid cell one raster data of correspondence, each raster data includes various different types
Information, every kind of information type represents at least one information；And, display module 404 is connected with acquisition module 402, is used for
Indoor map is shown on the display of computing device, wherein indoor map includes the corresponding information of much information type.
In the present embodiment, for showing that the device of indoor map can be computer program module on the computing device, deposit
Corresponding function is read by one or more processing units and performed to storage in the memory of one or more computing devices.Should
Memory can be local storage, or the memory positioned at distal end, and the present embodiment is not limited this.
In some real examples, information type may include but be not limited to grid cell by belonging to type, grid cell
At least one of room area, the corresponding semantic title of grid cell or any combination.Alternatively, every kind of information type can use
One or more in multiple values of information.Alternatively, in each raster data much information type according to predefined sequential arrangement.
Further describing for device for showing indoor map on the computing device is referred to but is not limited to such as Fig. 3 institutes
The description of the method shown, will not be repeated here.
In the disclosure, there is provided a kind of method for autonomous formula equipment, as shown in figure 5, the method includes step
Rapid 502 to step 504.
Step 502, stores the grating map data for describing indoor environment in the memory of autonomous formula equipment,
Wherein, the grating map data include multiple grid cells, each grid cell one raster data of correspondence, each grid number
According to comprising various different information types, every kind of information type represents at least one information.
In some examples, the information type of the raster data of grid cell include but is not limited to grid cell by class
At least one of corresponding semantic title of room area, grid cell belonging to type, grid cell or any combination.As showing
Example, one or more in the desirable multiple values of information of every kind of information type.Alternatively, much information type in each raster data
Can be according to predefined sequential arrangement.
In some examples, grid cell include but is not limited to pass through by unit, barrier, at least one limitation
At least one of pass through or any combination.
Step 504, the information control autonomous formula represented according at least one of grating map data information type sets
It is standby.
In step 504, the mobile route or limitation autonomous formula that autonomous formula equipment is can control as an example set
At least one of standby moving range or behavior pattern of the control autonomous formula equipment or any combination.
In the disclosure, there is provided a kind of device for autonomous formula equipment, as shown in fig. 6, the device includes：Deposit
Storage module 602, for storing the grating map data for describing indoor environment in the memory of autonomous formula equipment, its
In, grating map data include multiple grid cells, and each grid cell one raster data of correspondence, each raster data is included
Various different types of information, every kind of information type represents at least one information；And, control module 604, with memory module
602 are connected, and the information for being represented according at least one of grating map data information type controls autonomous formula equipment.
In the present embodiment, the device can be computer program module, store in one or more memories, by one
Or multiple processing units read and perform corresponding function.The memory can be local storage, or positioned at distal end
Memory, the present embodiment do not limited this.Further describing for the device is referred to but is not limited to side as shown in Figure 6
The description of method, will not be repeated here.
In the disclosure, there is provided a kind of autonomous formula equipment, as shown in fig. 7, autonomous formula equipment may include：Deposit
Reservoir 702, for storing the grating map data for describing indoor environment, wherein, grating map data include multiple grids
Unit, each grid cell one raster data of correspondence, each raster data includes various different types of information, every kind of information
Type represents at least one information；And, at least one processing unit 704 is connected, for according to grid with memory 702
The information control autonomous formula equipment that at least one of map datum information type is represented.
In some examples, information type include but is not limited to grid cell by the room belonging to type, grid cell
At least one of corresponding semantic title of inner region, grid cell or any combination.
At least one processing unit 704 can be used for but be not limited to control mobile route or the limitation of autonomous formula equipment
At least one of the moving range of autonomous formula equipment or the behavior pattern of control autonomous formula equipment or any combination.
In the disclosure, there is provided a kind of indoor map sending method, as shown in figure 8, the method comprising the steps of 802 to step
Rapid 804.
Step 802, generates the grating map data for describing indoor environment, wherein, grating map data include multiple
Grid cell, each grid cell one raster data of correspondence, each raster data includes various different types of information, every kind of
Information type represents at least one information.
In some examples, information type include but is not limited to grid cell by the room belonging to type, grid cell
At least one of corresponding semantic title of inner region, grid cell or any combination.Grid cell by type include but not
It is limited to pass through, barrier and at least one limitation pass through.
In some examples, grating map number can be generated at autonomous formula equipment or computing device or server
According to.
Step 804, sends the grating map data.
In some examples, the grating map data can be sent to server or autonomous formula equipment in step 804.
In the present embodiment, there is provided a kind of indoor map generation method.Fig. 9 is generated for a kind of indoor map of the disclosure
The flow chart of method, as shown in figure 9, the method comprising the steps of 902 to step 906.
Step 902, obtains the first grid map datum, wherein the first grid map datum is according to autonomous formula equipment pin
The information gathered to indoor environment is obtained.
In some examples, the first grid map datum includes multiple grid cells, and each grid cell is according to autonomous
The environmental information that mobile unit is collected, be marked as can by or barrier.In some examples, do not visited in map datum
The grid of rope can be marked as not exploring.
Step 904, obtains the information of at least one type, wherein, information and the indoor environment phase of at least one type
Close.
In some examples, information type may include by type, can lead to compared with correlation technique, defined in the example
Cross or barrier outside by type, at least one limitation passes through.It should be appreciated that limitation by be not limited to a value or
One kind, according to the requirement that limitation passes through, can there is multiple values or various.Different Limit Types can correspond to different limitations.
For example, limitation is by that can distinguish the limitation of walking and the limitation of clean up task, if limitation is being performed by the limitation for walking
During clean up task, autonomous formula equipment 110 can pass through；If limitation is appointed by the limitation for clean up task walking is performed
During business, autonomous formula equipment 110 can pass through.It should be appreciated that herein by way of example only, the disclosure is not limited to this.Should
Understand, those skilled in the art can be arranged as required to one or more limitation and pass through.
In some examples, information type may include the information type for representing the room area belonging to grid cell.
The title of the recordable room area of the information type and/or the mark (ID) of room area.Autonomous formula equipment 110 can be with root
Room area where determining itself according to the information type.By this way, room area can be incorporated in grating map
Zoning concept, at least beneficial to the man-machine interaction experience of autonomous formula equipment 110.
In some examples, information type may include the information type of the semantic title for representing grid cell.Pass through
Semantic title can associate grid cell with semantic meaning.For example, can be by the grid cell aggregated label of " bed " position
" bed ", so as to increase Item Information in grating map, and according to also including bed in map in the situational map of grid
Position.Or, it is " window " by the grid cell aggregated label of " window " position.Again for example, semanteme can be defined for a certain position
Title, so this region can have semantic meaning.In grating map, the raster data of grid cell is included for representing language
The information type of adopted title, can record semantic title in data segment.In some examples, semanteme can be recorded in the data segment
Title in itself or semantic title mark, the disclosure do not limited this.
It should be appreciated that illustrate only information type in above-mentioned example including grid cell by type, grid cell institute
At least one of corresponding semantic title of the room area of category, grid cell or any combination.But the present embodiment is not limited to this,
Actually other feasible information types are also that can be conceived by those skilled in the art.
Step 906, the information according to the first grid map datum and at least one information type generates the second grid ground
Diagram data, the second grid map datum generated in it includes multiple grid cells, each grid cell one grid of correspondence
Data, each raster data includes various different types of information, and every kind of information type represents at least one information.
In some examples, much information type is arranged according to predefined procedure, and position is corresponding with information type, can be in grid
Relevant position records the information of corresponding information type in the raster data of unit.As an example, the raster data of grid cell can
Including tri- information types of A, B, C, each information type corresponds to the data segment of predetermined length.Or can be set between information type
Separation separator is put, the data segment, length of each information type may be the same or different.It should be appreciated that only saying as an example herein
Bright, the disclosure is not limited to this.
In some examples, the raster data of grid cell includes information type mark and information value, can be according to information
Type identification determines the implication of information, records corresponding information.It should be appreciated that being illustrative only herein, the disclosure is not
It is limited to this.Used as an example, the raster data of grid cell can be expressed as follows：{A：" value ", B：" value ", C：
" value " }, wherein, A, B, C are the mark of information type, and " value " is the value of each information type.
Figure 10 is a kind of structured flowchart of indoor map dispensing device of the disclosure, and as shown in Figure 10, the device includes：It is raw
Into module 1002, for generating the grating map data for describing indoor environment, wherein, grating map data include multiple grid
Lattice unit, each grid cell one raster data of correspondence, each raster data includes various different types of information, Mei Zhongxin
Breath type represents at least one information；And, sending module 1004 is connected with generation module 1002, for sending the grid
Map datum.
Figure 11 is a kind of structured flowchart of indoor map generating means of the disclosure, and as shown in figure 11, the device includes：The
One acquisition module 1102, for obtaining the first grid map datum, wherein the first grid map datum sets according to autonomous formula
It is standby to be obtained for the information that indoor environment is gathered.Second acquisition module 1104, the information for obtaining at least one type, extremely
Few a type of information is related to indoor environment.And, generation module 1106 is obtained with the first acquisition module 1102, second
Module 1104 is connected, for generating the second grid according to the information of the first grid map datum and at least one information type
Map datum, the second grid map datum generated in it includes multiple grid cells, each grid cell one grid of correspondence
Lattice data, each raster data includes various different types of information, and every kind of information type represents at least one information.
In the present embodiment, there is provided one kind is for generating the indoor map with semantic description (also referred to as semantic title)
Method, as shown in figure 12,1202 to step that the method comprising the steps of 1206.
Step 1202, shows the indoor map for describing indoor environment on the display of computing device.
In some examples, the type of indoor map is grating map.The indoor map of display can at least include each grid
Lattice unit can be by type.Wherein, grid cell can at least be included by type can by and barrier, but be not limited to
This.Difference can be shown by the grid cell of type using different visual elements, for example, will be the grid that can pass through by type
Region where lattice unit is shown as a kind of color, will be shown as other colors by the grid cell that type is barrier.Its
He passes through the grid cell of type by that analogy.
In some examples, grating map data include multiple grid cells, each grid cell one grid number of correspondence
According to each raster data includes various different types of information, and every kind of information type represents at least one information.In computing device
Display on the information that shows include the corresponding part or all of information of multiple information types.For example, can be according to indoor map
Display pattern show corresponding information, also can display portion or full detail, the disclosure do not limited this.
For example, indoor map may include multiple display patterns, different pattern correspondences shows the information of different information types,
Or, different patterns use different visual elements, but not limited to this for the information of identical information type.Each pattern
One or more information can be shown.In some examples, the letter that indoor map is included can be shown according to the selection to display pattern
Breath.
In some examples, grating map data are can read, the coordinate system informations in grating map data are set up and sat
Mark system, determines the position of each grid cell.For example, grating map data may include origin, length and the width and grid of map
Unit, grid cell one raster data of correspondence.In some examples, the grid cell in grating map constitutes array, array
In each element be the corresponding raster data of grid cell.
The raster data of each grid cell is read, the much information that grid cell is included is obtained, with computing device
At least part of information in much information is shown on display.
By taking the indoor environment shown in Figure 13 as an example, the display effect to indoor map is described.Figure 14 is the disclosure
The schematic diagram of indoor map display effect, as shown in figure 14, wherein, black portions are barrier, and white portion is to pass through.
Indoor map is shown as interactive visual figure, the position of interactive visual figure and the grid list of indoor map
Unit has mapping relations.User can operate for interactive visual figure to indoor map.
Step 1204, the selection in response to user to region in indoor map points out user input to selected region
Semantic description.
As shown in figure 14, barrier has profile corresponding with homologue product in indoor environment, can by part also with it is aobvious
Show the corresponding profile of environment.User can associate indoor map with indoor environment according to profile.
User can select the region in indoor map by input interface, for example, user may be selected " bed " corresponds to interior
Region in map, or selection " TV " corresponds to the region in indoor map, or selection " windowsill " corresponds to indoor ground
Position in figure.In certain embodiments, input interface is included but is not limited to, mouse, touch-sensitive display, touch pad, keyboard etc..
In some examples, selectable region is limited for can not be by region.Can not be by region in grating map
Article region in indoor environment, therefore the semantic description of family increase article can be used.
In some examples, selectable region is limited for can be by region.In grating map can used region typically with
The regions such as passageway correspondence, or it is corresponding with the article region that autonomous formula equipment can pass through, hence in so that user can increase
Plus the semantic description in these regions.
Selection in response to user to region, points out semantic description of the user input to selected region.In an example
In, an input frame can be shown.User is input into semantic description by input interface.
Step 1206, in response to user input, records selected region and its semantic description, obtains with semantic description
Indoor map.
In response to user input, selected region and its semantic description are recorded in map datum indoors, and then by language
Justice description is associated with map datum, obtains the indoor map with semantic description.
In some examples, the incidence relation of the corresponding grid cell in selected region and semantic description, root be can record
According to the incidence relation, can inquire about and obtain corresponding grid cell in known semantic description；Or, can be in known grid cell
When, inquiry obtains corresponding semantic description.
In some examples, grating map data may include multiple grid cells, each grid cell one grid of correspondence
Data, each raster data includes various different types of information.Semantic description can be marked at the corresponding info class of semantic description
In type.
In some examples, can mark semantic description in itself in corresponding informance type or semantic description mark.Cause
This, can generative semantics description mark, the mark be used for distinguish different semantic descriptions；The mark of semantic description can be marked at
In the corresponding information type of semantic description.But the disclosure is not limited to this.
In some examples, can also be according at least one of the profile in selected region, area, position or any combination
The suggestion of the semantic description for selected region is provided.For example, can be remembered in the database according to the database for pre-setting
Record has room area, the profile of indoor article, area, position etc., the corresponding article in selected region or region etc., obtains language
Justice description suggestion.
In the present embodiment, there is provided one kind is for generating the indoor map with semantic description (also referred to as semantic title)
Method, as shown in figure 15,1502 to step that the method comprising the steps of 1506.
Step 1502, obtains the indoor map for describing indoor environment, and the wherein type of the indoor map is grid ground
Figure.
In some examples, what indoor map can be at least including each grid cell can be by type.Wherein, grid cell
Can at least be included by type can by and barrier, but not limited to this.
Step 1504, is divided into multiple regions, and produce multiple regions according to indoor environment database by indoor map
In at least partly region semantic description, wherein, the plurality of region is corresponding with indoor article position.
In some examples, the profile of the information including the interior space for being recorded in indoor environment database, indoor article
At least one of profile, the size of indoor article, indoor article position indoors in space or any combination and indoor thing
The semantic description of product.
In some examples, indoor environment data-base recording has the image of multiple indoor environments.
Step 1506, records each region and its corresponding semantic description, obtains the semantic description with indoor article
Indoor map.
In some examples, the incidence relation of the corresponding grid cell in selected region and semantic description, root be can record
According to the incidence relation, can inquire about and obtain corresponding grid cell in known semantic description；Or, can be in known grid cell
When, inquiry obtains corresponding semantic description.
In some examples, grating map data may include multiple grid cells, each grid cell one grid of correspondence
Data, each raster data includes various different types of information.Semantic description can be marked at the corresponding info class of semantic description
In type.
In some examples, can mark semantic description in itself in corresponding informance type or semantic description mark.Cause
This, can generative semantics description mark, the mark be used for distinguish different semantic descriptions；The mark of semantic description can be marked at
In the corresponding information type of semantic description.But the disclosure is not limited to this.
In the present embodiment, there is provided a kind of device for generating the indoor map with semantic description, such as Figure 16 institutes
Show, the device includes：Display module 1602, for showing the interior for describing indoor environment on the display of computing device
Map；Reminding module 1604, for the selection in response to user to region in indoor map, points out user input to selected
The semantic description in region；And, logging modle 1606, in response to user input, records selected region and its semantic description.
In some examples, the type of indoor map is grating map, but not limited to this.
The description for further describing the method that can be found in as shown in figure 14 of the device, will not be repeated here.
In the present embodiment, a kind of device for generating the indoor map with semantic description, such as Figure 17 are additionally provided
Shown, the device includes：Acquisition module 1702, for obtaining the indoor map for describing indoor environment, wherein interior ground
The type of figure is grating map；Analysis module 1704, for indoor map to be divided into multiple areas according to indoor environment database
Domain, and produce in multiple regions at least partly semantic description in region, wherein, multiple regions and indoor article position pair
Should；And, logging modle 1706, for recording each region and its corresponding semantic description, obtains the language with indoor article
The indoor map of justice description.
In some examples, the profile of the information including the interior space for being recorded in indoor environment database, indoor article
At least one of profile, the size of indoor article, indoor article position indoors in space or any combination and indoor thing
The semantic description of product.
In some examples, indoor environment data-base recording has the image of multiple indoor environments.Can be by the figure of indoor environment
As carrying out the matching analysis with grating map, to obtain region of the indoor article in grating map.
The description for further describing the method that can be found in as shown in figure 15 of the device, will not be repeated here.
In the present embodiment, a kind of method for editing indoor map is additionally provided, as shown in figure 18, the method includes
Step 1802 is to step 1804.
Step 1802, shows the indoor map for describing indoor environment, and wherein the indoor map is grating map, the grid
Lattice map includes multiple grid cells, and each grid cell includes at least two by type.
In some examples, the type of indoor map is grating map.The indoor map of display can at least include each grid
Lattice unit can be by type.Wherein, grid cell can may include to pass through by type, during barrier, limitation pass through
At least two, but not limited to this.Difference can be shown by the grid cell of type using different visual elements, for example, will be logical
It is that the region where the grid cell that can pass through is shown as a kind of color to cross type, will be the grid cell of barrier by type
It is shown as other colors.Other pass through the grid cell of type by that analogy.
Step 1804, by the selection in the region of type and be able to will edit in response to user to be edited in indoor map
The corresponding grid cell in selected region can be adjusted to the target to be edited into by the target for arriving by type by type
By type, wherein, the target is that grid cell currently passes through type by the one kind outside type by type.
In some examples, target by type be other one or more outside above-mentioned at least two by type it
One.
For example, a selection part is the grid cell that can pass through by type, it is barrier to be compiled as by type
Grid cell.By the example, may be such that user can correct the error that autonomous formula equipment is set up in map, the error
Be probably will be originally the position mark of barrier can to pass through, autonomous formula equipment can be avoided unnecessary in movement
Collision.In addition, in correlation technique, after setting up map, if indoor newly-increased barrier (article etc.), needs autonomous formula to set
It is standby detect barrier after could update map datum.By the example so that barrier can be added to map number by user
In.
For example, a selection part is the grid cell of barrier by type, it is compiled as by type as that can pass through
Grid cell.By the example, may be such that user can correct the error that autonomous formula equipment is set up in map, the error
It will be that the position mark that can pass through is barrier to be probably originally, can avoid to autonomous formula equipment moving range need not
Limit.In addition, in correlation technique, after setting up map, if indoor section barrier (article etc.) disappears, needing autonomous shifting
Dynamic formula equipment is detected after barrier disappears could update map datum.By the example so that user can by barrier from
Removed in map datum.
For example, a selection part is the grid cell that can pass through by type, it is compiled as by type as limitation is logical
The grid cell crossed.By the example, the moving range of autonomous formula equipment can be limited by map.As it was previously stated, limitation
By being not limited to a value, according to the requirement that limitation passes through, there can be multiple values.Different values can correspond to different
Limitation.For example, limitation is by that can distinguish the limitation of walking and the limitation of clean up task, if limitation is by the limitation for walking,
When clean up task is performed, autonomous formula equipment can pass through；If limitation is performing walking by the limitation for clean up task
During task, autonomous formula equipment can pass through.It should be appreciated that herein by way of example only, the disclosure is not limited to this.Should manage
Solution, those skilled in the art can be arranged as required to one or more limitation and pass through.
In some examples, one raster data of each grid cell correspondence, each raster data includes various inhomogeneities
The information of type, every kind of information type represents at least one information.Can be by the grid number of the corresponding grid cell in selected region
The target to be edited into is adjusted to by type by the corresponding information type of type in.
In embodiment, a kind of method for limiting autonomous formula equipment moving range is additionally provided, such as Figure 19 institutes
Show, 1902 to step that the method comprising the steps of 1904.
Step 1902, shows the indoor map for describing indoor environment, wherein, the indoor map is grating map, grid
Lattice map includes multiple grid cells, each grid cell by type for can by or barrier.
Step 1904, in response to the selection on user indoors map to limitation moving area, by selected region pair
The grid cell answered passes through labeled as limitation, obtains comprising can pass through, the grid list that barrier and at least one limitation pass through
The indoor map of unit.
User can be by input interface selectional restriction moving area, and in certain embodiments, input interface includes but do not limit
In mouse, touch-sensitive display, touch pad, keyboard etc..
As it was previously stated, limitation is by being not limited to a value, according to the requirement that limitation passes through, there can be multiple values.
Different values can correspond to different limitations.For example, limitation is by that can distinguish the limitation of walking and the limitation of clean up task, if
By the limitation for walking, when clean up task is performed, autonomous formula equipment can pass through for limitation；If limitation is by being cleaning
The limitation of task, when walking task is performed, autonomous formula equipment can pass through.It should be appreciated that herein by way of example only, this
It is open to be not limited to this.It should be appreciated that those skilled in the art, can be arranged as required to one or more limitation and pass through.
In some examples, can pass through in different visual cues display indoor maps, barrier and at least one
The grid cell that limitation passes through, but not limited to this.
In some examples, can selected region be restricted to by type be area where the grid cell that can pass through
Domain.
In some examples, one raster data of each grid cell correspondence, each raster data includes various inhomogeneities
The information of type, every kind of information type represents at least one information.Can be by the grid number of the corresponding grid cell in selected region
Limitation is adjusted in by the corresponding information type of type to pass through.
In some examples, may also be responsive to, in the selection for the term of validity to selected region, record selected area
The limitation movement term of validity in domain.
In the present embodiment, a kind of device for editing indoor map, as shown in figure 20, the device bag are additionally provided
Include：Display module 2002, for showing the indoor map for describing indoor environment, wherein the indoor map is grid ground
Figure, the grating map includes multiple grid cells, and each grid cell includes at least two by type.Editor module
2004, in response to user to it is to be edited in indoor map can be by the selection in the region of type and the target to be edited into
By type, the corresponding grid cell in selected region can be adjusted to the target to be edited into by class by type
Type, wherein, target is that grid cell currently passes through type by the one kind outside type by type.
The description for further describing the method that can be found in as shown in figure 18 on the device, will not be repeated here.
In the present embodiment, a kind of device for limiting autonomous formula equipment moving range, such as Figure 21 are additionally provided
Shown, the device includes：Display module 2102, for showing the indoor map for describing indoor environment, wherein interior ground
Figure is grating map, and grating map includes multiple grid cells, each grid cell by type for can by or barrier；
And, mark module 2104, in response to the selection on user indoors map to limitation moving area, by selected area
The corresponding grid cell in domain passes through labeled as limitation, obtains comprising can pass through, grid cell that barrier and limitation pass through
Indoor map.
In some examples, the device may also include logging modle (not shown in Figure 21), in response to for institute
The selection of the term of validity of selection region, records the limitation movement term of validity in selected region.
The description that can be found in the method as shown in Figure 18 and 19 is further described on the device, be will not be repeated here.
In the present embodiment, there is provided a kind of method for controlling autonomous formula robot, as shown in figure 22, the party
Method includes step 2202 to step 2204.
Step 2202, obtains the indoor map for describing indoor environment, wherein, the indoor map is grating map,
Wherein, the grating map includes multiple grid cells, and each grid cell is one kind at least three kinds by type.
In some examples, lattice types at least included by type can pass through, barrier and at least one limitation it is logical
Cross.As it was previously stated, limitation is by being not limited to one kind, according to the requirement that limitation passes through, there can be various limitations to pass through.Different
Limitation is by that can correspond to different limitations.For example, limitation is by that can distinguish the limitation of walking and the limitation of clean up task, if limit
By the limitation for walking, when clean up task is performed, autonomous formula equipment can pass through system；If limitation is appointed by for cleaning
The limitation of business, when walking task is performed, autonomous formula equipment can pass through.It should be appreciated that herein by way of example only, this public affairs
Open and be not limited to this.It should be appreciated that those skilled in the art, can be arranged as required to one or more limitation and pass through.
Step 2204, according in indoor map at least part of grid cell by Type Control autonomous formula equipment
It is mobile.
In some examples, the different shift strategies different by type correspondence.Used as an example, shift strategy can
Position where including whether grid cell or by when collision rule etc., collision rule may include whether collision, Yi Jizhi
Few a kind of collision method etc..In some examples, shift strategy can also be related to mobile purpose, during different mobile purpose, adopts
With different shift strategies.Can be according to the movement that mobile unit is controlled by the corresponding shift strategy of type of grid cell.
For example, including passing through by type, barrier and at least one limitation pass through.For walking task, can by and limitation it is logical
The grid cell crossed can be used to plan mobile route；Or, for clean up task, the grid cell that barrier and limitation pass through
It is not used to plan mobile route.But not limited to this.
In the present embodiment, a kind of device for controlling autonomous formula robot is additionally provided, as shown in figure 23, should
Device includes：Acquisition module 2302, for obtaining the indoor map for describing indoor environment, wherein, indoor map is grid
Map, wherein, grating map includes multiple grid cells, and each grid cell is one kind at least three kinds by type；
And, control module 2304 is connected with acquisition module 2302, for being passed through according at least part of grid cell in indoor map
The movement of autonomous formula equipment described in Type Control.In some examples, grid cell is included but is not limited to by type
At least one of or any combination：Can pass through, barrier and at least one limitation pass through.
The description for further describing the method that can be found in as shown in figure 22 on the device, will not be repeated here.
In the present embodiment, also a kind of indoor map generation method, as shown in figure 24,2402 to step that the method comprising the steps of
Rapid 2406.
Step 2402, shows the indoor map for describing indoor environment, wherein, the type of the indoor map is grid ground
Figure.
In some examples, with reference to Fig. 3, the grating map data for describing indoor environment can be obtained, in some examples
In, the grating map data include multiple grid cells, each grid cell one raster data of correspondence, each raster data bag
Containing various different types of information, every kind of information type represents at least one information.
In some examples, the information type of the raster data of grid cell include but is not limited to grid cell by class
At least one of corresponding semantic title of type, grid cell or any combination.As an example, the desirable multiple letters of every kind of information type
One or more in breath value.
In some examples, the information of display includes the corresponding part or all of information of multiple information types.For example, can root
Show corresponding information according to the display pattern of indoor map, can also directly display part or all of information, the present embodiment to this not
Limit.
Step 2404, indoor environment is divided into the map partitioning operation of multiple room areas in response to user, according to this
Indoor map is divided into multiple room areas by map partitioning operation.
User can carry out map partitioning operation by input interface, and in certain embodiments, input interface includes but do not limit
In mouse, touch-sensitive display, touch pad, keyboard etc..
In some examples, can detect the contact with the indoor map of display；If while continuous contact is detected
The track of the contact meets default map partitioning condition, and indoor map is divided into multiple room areas by the track according to contact.
In some examples, map partitioning condition is preset may include but be not limited to：The track of contact and indoor environment border
The region that the track of composition closed area or contact constitutes the track covering of closed area or contact in itself meets pre-conditioned.
As an example, the curve of the track of contact is can detect, judge whether the curve constitutes closed area, if
It is, can be using the closed area an as room area.Or, judge whether the curve constitutes enclosed area with indoor environment border
Domain, wherein, indoor environment border may include wall and/or various barriers etc., if it is, can be using the closed area as
Individual room area.
As an example, can detect the region of the track covering of contact, if the region of the track covering of contact whether
Meet pre-conditioned, whether the area in the wherein pre-conditioned region including covering is more than preset value or ratio etc., but do not limit
In this.
In some examples, the track of contact is shown while continuous contact is detected.The track of contact can be with not
Existing visual elements are shown in being same as indoor map, to point out to contact the track for having been constituted.
In some examples, the multiple room areas that divide and obtain can be shown with different visual elements, for example, with difference
The different region of the figure shows of color, but not limited to this.
Step 2406, marks the interior belonging to correspondence grid cell in the corresponding grating map data of each room area
Region, obtains being marked with the grating map data of multiple room areas.
In some examples, such as the foregoing grating map data of this implementation, grating map data may include multiple grid lists
Unit, each grid cell one raster data of correspondence, each raster data includes various different types of information, and information type can
Including the room area belonging to grid cell.Grid cell can be marked in the corresponding information of affiliated room area of grid cell
Affiliated room area.
In some examples, the description information of room area can be also obtained, the description information may include the language of room area
Adopted title, for example, " bedroom ", " kitchen ", " parlor " " toilet " etc..Can be by the descriptive markup of room area in grating map number
In.By the example so that there is multiple room areas, and the semantic meaning with room area in grating map, have
Beneficial to the interactive experience of optimization autonomous formula equipment.
In some examples, the room area mark of room area can be generated, the room area of room area is identified into mark
Note is indoors in the raster data of the corresponding grid cell in region.
In some examples, the description information of room area can be obtained, and sets up room area mark and description information
Incidence relation.By the example, room area can be associated with the description information of room area.
In the present embodiment, there is provided a kind of indoor map generating means, as shown in figure 25, the device includes：Display mould
Block 2502, for showing the indoor map for describing indoor environment, wherein, the type of indoor map is grating map.Divide
Module 2504, the map partitioning operation for indoor environment to be divided into multiple room areas in response to user, draws according to map
Divide operation that indoor map is divided into multiple room areas.And, mark module 2506 is connected with division module 2504, is used for
The room area belonging to correspondence grid cell is marked in the corresponding grating map data of each room area, obtains being marked with many
The grating map data of individual room area.
In some examples, mark module 2506 can generate the room area mark of each room area, and each is indoor
The room area in region is marked in the raster data of the corresponding grid cell of room area.
In some examples, grating map data include multiple grid cells, each grid cell one grid number of correspondence
Various different types of information are included according to, each raster data, information type is at least included but is not limited to by type and affiliated
Room area.Mark module 2506 can be used to mark grid cell institute in the corresponding information of affiliated room area of grid cell
The room area of category.
In some examples, the device can also include acquisition module (not shown in Figure 25), for obtaining room area
Description information；And relating module (not shown in Figure 25), associated with description information for setting up room area mark
System.
In some examples, the detectable contact with indoor map of division module 2504；And, detecting continuous contact
If while contact track meet default map partitioning condition, indoor map is divided into multiple rooms by the track according to contact
Inner region.
Property explanation as an example, above-mentioned default map partitioning condition includes：The track of contact is constituted with indoor environment border
The track of closed area or the contact constitutes closed area or the region that is covered of track of contact and meets default bar in itself
Part, but not limited to this.
In some examples, display module 2502 can also show the track of contact while continuous contact is detected.
Other descriptions on the device can be found in the description of method as shown in figure 24, will not be repeated here.
In the present embodiment, a kind of indoor map generation method is additionally provided, as shown in figure 26, the method comprising the steps of
2602 to step 2606.
Step 2602, shows the indoor map for describing indoor environment.
In some examples, indoor map is grating map.With reference to Fig. 3, the grid for describing indoor environment can be obtained
Map datum, in some examples, the grating map data may include multiple grid cells, each grid cell one grid of correspondence
Lattice data, each raster data includes various different types of information, and every kind of information type represents at least one information.
In some examples, the information type of the raster data of grid cell include but is not limited to grid cell by class
At least one of corresponding semantic title of type, grid cell or any combination.As an example, the desirable multiple letters of every kind of information type
One or more in breath value.
In some examples, the information of display includes the corresponding part or all of information of multiple information types.For example, can root
Show corresponding information according to the display pattern of indoor map, can also directly display part or all of information, the present embodiment to this not
Limit.
Step 2604, indoor environment is divided into the map partitioning operation of multiple room areas in response to user, according to ground
Indoor map is divided into multiple room areas by figure division operation.
User can carry out map partitioning operation by input interface, and in certain embodiments, input interface includes but do not limit
In mouse, touch-sensitive display, touch pad, keyboard etc..
In some examples, can detect the contact with the indoor map of display；If while continuous contact is detected
The track of the contact meets default map partitioning condition, and indoor map is divided into multiple room areas by the track according to contact.
In some examples, map partitioning condition is preset may include but be not limited to：The track of contact and indoor environment border
The region that the track of composition closed area or contact constitutes the track covering of closed area or contact in itself meets pre-conditioned.
As an example, the curve of the track of contact is can detect, judge whether the curve constitutes closed area, if
It is, can be using the closed area an as room area.Or, judge whether the curve constitutes enclosed area with indoor environment border
Domain, wherein, indoor environment border may include wall and/or various barriers etc., if it is, can be using the closed area as
Individual room area.
As an example, can detect the region of the track covering of contact, if the region of the track covering of contact whether
Meet pre-conditioned, whether the area in the wherein pre-conditioned region including covering is more than preset value or ratio etc., but do not limit
In this.
In some examples, the track of contact is shown while continuous contact is detected.The track of contact can be with not
Existing visual elements are shown in being same as indoor map, to point out to contact the track for having been constituted.
In some examples, the multiple room areas that divide and obtain can be shown with different visual elements, for example, with difference
The different region of the figure shows of color, but not limited to this.
Step 2606, generates and records the boundary information of multiple room areas.Autonomous formula equipment can be believed according to border
Breath judges that whether indoors its position in region, can also determine the corresponding grid cell of room area according to boundary information.
In some examples, boundary information is one or a prescription journey for describing room area border.
In some examples, the description information of room area can be also obtained, description information and the interior of room area is set up
The incidence relation of the boundary information in region.
In the present embodiment, there is provided a kind of indoor map generating means, as shown in figure 27, the device includes：Display mould
Block 2702, for showing the indoor map for describing indoor environment；Division module 2704, in response to user by indoor ring
Border is divided into the map partitioning operation of multiple room areas, and indoor map is divided into multiple interior areas according to map partitioning operation
Domain；And, logging modle 2706 is connected with division module 2704, for generating and records the side of the multiple room area
Boundary's information.
In some examples, the device may also include：Acquisition module (not shown in Figure 27), for obtaining room area
Description information.Module (not shown in Figure 27) is set up, the border of description information and room area for setting up room area is believed
The incidence relation of breath.
In some examples, boundary information is one or a prescription journey for describing room area border.
In the present embodiment, a kind of method for controlling autonomous formula equipment, as shown in figure 28, the party are additionally provided
Method includes step 2802 to step 2804.
Step 2802, obtains the indoor map for describing indoor environment, and multiple room areas in indoor map
Boundary information.Alternatively, the type of indoor map is grating map.
Whether step 2804, judge autonomous formula equipment in a room area according to boundary information.
In some examples, boundary information is one or a prescription journey for describing room area border.
In the present embodiment, a kind of device for controlling autonomous formula equipment, as shown in figure 29, the dress are additionally provided
Put including：Acquisition module 2902, for obtaining the indoor map for describing indoor environment, and multiple interiors in indoor map
The boundary information in region；And, judge module 2904 is connected with acquisition module 2902, for being judged certainly according to boundary information
Whether main mobile unit is in a room area.
In some examples, boundary information is one or a prescription journey for describing room area border.
In the present embodiment, there is provided a kind of method for controlling autonomous formula equipment, as shown in figure 30, the method
Including step 3002 to step 3004.
Step 3002, obtains the grating map data for describing indoor environment, wherein, grating map data include multiple
Grid cell, each grid cell one raster data of correspondence, each raster data includes various different types of information, every kind of
Information type represents at least one information.
In some examples, in the raster data of grid cell, information type is included but is not limited to：Grid cell passes through
At least one of corresponding semantic title of room area, grid cell belonging to type, grid cell or any combination.It is optional
Ground, grid cell may include to pass through by type, barrier or at least one limitation pass through.The corresponding language of grid cell
Adopted title, including the title of indoor article etc..
Step 3004, according to the letter of at least part of type of at least part of grid cell in the grating map data for getting
Breath control autonomous formula equipment.
In some examples, step 3004 can according in grating map data grid cell by Type Control control from
The movement of main mobile unit, wherein, different can correspond to different shift strategies by type.Alternatively, shift strategy bag
Include collision rule and/or shift strategy related to mobile purpose, wherein, difference is advised by the different collision of the grid correspondence of type
Then.
As an example, shift strategy may include whether grid cell where position or by when collision rule
Collision and at least one collision method etc. are may include whether Deng, collision rule.In some examples, shift strategy can also be with
Mobile purpose is related, during different mobile purpose, using different shift strategies.Can be according to grid cell by type correspondence
Shift strategy control mobile unit movement.For example, by type include can pass through, barrier and limitation pass through.For
Walking task, can by and the grid cell that passes through of limitation can be used to plan mobile route；Or, for clean up task, barrier
The grid cell for hindering thing and limitation to pass through is not used to plan mobile route.But not limited to this.
In some examples, as shown in figure 31, step 3004 may include step 3102 to step 3106.
Step 3102, obtains target location, wherein, target location belongs at least one of multiple room areas.
Step 3104, the room area according to belonging to grid cell in grating map data determines the target location pair
The grid cell answered.
Step 3106, makes autonomous formula equipment move to the corresponding grid cell in target location.
By the example, realize control autonomous formula equipment and move to target room area.
In some examples, as shown in figure 32, step 3004 includes step 3202 to step 3206.
Step 3202, obtains moving range, wherein, the moving range belongs at least one of multiple room areas.
Step 3204 according in grating map data grid cell by type and grid cell belonging to room area,
Determine the corresponding grid cell of moving range.
Step 3206, autonomous type mobile device is limited in the corresponding grid cell of the moving range.
By the example, realize and autonomous formula equipment is limited in one or more room areas.
In some examples, as shown in figure 33, step 3004 includes step 3302 to step 3306.
Step 3302, obtains target location, and wherein target location is at least one of multiple semanteme titles.Semantic title bag
Include title of indoor article etc., but not limited to this.
Step 3304, according to the corresponding semantic title of grid cell in grating map data, determines that target location is corresponding
Grid cell.
Step 3306, makes autonomous formula equipment move to the corresponding grid cell in target location or its grid list for closing on
Unit.
By the example, realize makes autonomous formula equipment move to corresponding position according to semantic title, especially
When semantic title corresponds to indoor article, autonomous formula equipment can be made to move near article position.
In the present embodiment, a kind of device for controlling autonomous formula equipment, as shown in figure 34, the dress are additionally provided
Put including：Acquisition module 3402, for obtaining the grating map data for describing indoor environment, wherein, grating map data
Including multiple grid cells, each grid cell one raster data of correspondence, each raster data is comprising various different types of
Information, every kind of information type represents at least one information.Control module 3404, for according in the grating map data for getting
The information control autonomous formula equipment of at least part of type of at least part of grid cell.
In some examples, information type is included but is not limited to：Grid cell by the room belonging to type, grid cell
At least one of corresponding semantic title of inner region, grid cell or any combination.Alternatively, grid cell can by type
Including that can pass through, barrier or at least one limitation pass through.The corresponding semantic title of grid cell, including indoor article name
Claim etc..
In some examples, control module 3404 can be used for according in grating map data grid cell by type control
The movement of the system control autonomous formula equipment, wherein, the different shift strategies different by type correspondence.Alternatively,
Shift strategy includes that collision rule and/or shift strategy are related to task objective, wherein, difference is corresponding not by the grid of type
Same collision rule.
In some examples, control module 3404 can be used to obtain target location, wherein, target location belongs to multiple indoor
At least one of region；Room area according to belonging to grid cell in grating map data, determines the corresponding grid in target location
Lattice unit；And, autonomous formula equipment is moved to the corresponding grid cell in target location.
In some examples, control module 3404 can be used to obtain moving range, wherein, moving range belongs to multiple indoor
At least one of region；According in grating map data grid cell by type and grid cell belonging to room area,
Determine the corresponding grid cell of moving range；And, autonomous type mobile device is limited in the corresponding grid cell of moving range
It is interior.
In some examples, control module 3404 can be used to obtain target location, and wherein target location is multiple semanteme names
At least one of claim；According to the corresponding semantic title of grid cell in grating map data, the corresponding grid in target location is determined
Unit；And, autonomous formula equipment is moved to the corresponding grid cell in target location or its grid cell for closing on.
In the present embodiment, there is provided a kind of method that use computing device controls autonomous formula equipment, such as Figure 35 institutes
Show, 3502 to step that the method comprising the steps of 3504.
Step 3502, at computing device, shows the indoor map for describing indoor environment.
The grating map data of the indoor map may include multiple grid cells, each grid cell one grid number of correspondence
According to each raster data includes polytype information, and information type includes：Grid cell by type and grid institute
The corresponding semantic title of room area and/or grid cell of category.
In some examples, grid cell may include to pass through by type, barrier or at least one limitation it is logical
Cross.The corresponding semantic title of grid cell, including the title of indoor article etc..But not limited to this.
Step 3504, the selection in response to user to room area and/or semantic title, sends to autonomous formula equipment
The corresponding room area mark of room area and/or the corresponding semantic name identification of indoor article.
As an example, the selection to task in user is may also be responsive to, being sent to autonomous formula equipment to be performed
Task so that autonomous formula equipment performed in selected room area and/or the corresponding position of semantic title it is selected
Task.Wherein, task is included but is not limited to：A certain region or position are moved to, or to entering around a certain region or position
Row covering etc..
In the present embodiment, there is provided a kind of method that use computing device controls autonomous formula equipment, such as Figure 36 institutes
Show, 3602 to step that the method comprising the steps of 3606.
Step 3602, at autonomous formula equipment, receives the corresponding room area of room area that computing device sends
Mark and/or the corresponding semantic name identification of indoor article.
Step 3604, inquires about room area mark and/or the corresponding grid of semantic name identification in grating map data
Unit.
The grating map data of the indoor map include multiple grid cells, each grid cell one grid number of correspondence
According to each raster data includes polytype information, and information type includes：Grid cell by type and grid institute
The corresponding semantic title of room area and/or grid cell of category.
In some examples, grid cell may include to pass through by type, barrier or at least one limitation it is logical
Cross.The corresponding semantic title of grid cell, including the title of indoor article etc..But not limited to this.
Step 3606, control autonomous formula equipment is directed to the grid cell generation action for inquiring.
As an example, the task of computing device transmission can be also received, according to the task control autonomous formula equipment
Corresponding actions are produced for the grid cell for inquiring.
In the present embodiment, there is provided a kind of method for controlling autonomous formula equipment, as shown in figure 37, the method includes
Step 3702 is to step 3706.
Step 3702, obtains voice control command, wherein, voice control command carries room area and/or semantic name
Claim.
Step 3704, corresponding grid cell is inquired about according to room area and/or semantic title in grating map data.
The grating map data include multiple grid cells, each grid cell one raster data of correspondence, each grid
Packet contains polytype information, and information type includes：Grid cell by the room area belonging to type and grid
And/or the corresponding semantic title of grid cell.
In some examples, grid cell may include to pass through by type, barrier or at least one limitation it is logical
Cross.The corresponding semantic title of grid cell, including the title of indoor article etc..But not limited to this.
In some examples, the first incidence relation that can be identified according to room area and room area and/or semantic title
With the second incidence relation of semantic name identification, the corresponding room area mark of room area and/or semantic title correspondence are determined
Semantic name identification.And room area pair is determined according to the room area mark marked in the raster data of each grid cell
The grid cell answered, and/or semantic title is determined according to the semantic name identification marked in the raster data of each grid cell
Corresponding grid cell.
Step 3706, makes autonomous formula equipment be produced for the grid cell for inquiring dynamic according to voice control command
Make.
In some examples, also carried in voice control command in task, step 3706, can be ordered according to Voice command
Task in order makes autonomous formula equipment be directed to the grid cell generation corresponding actions for inquiring.
In the present embodiment, there is provided a kind of computing device, as shown in figure 38, the computing device includes：Display module
3802, for showing the indoor map for describing indoor environment.Module 3804 is provided, is connected with display module 3802, use
In the selection in response to user to room area and/or semantic title, room area is sent to autonomous formula equipment corresponding
Room area is identified and/or the corresponding semantic name identification of indoor article.
In some examples, the grating map data of indoor map include multiple grid cells, each grid cell correspondence
One raster data, each raster data includes polytype information, and information type includes：Grid cell by type,
And the corresponding semantic title of room area and/or grid cell belonging to grid.
As an example, grid cell may include to pass through by type, barrier or at least one limitation it is logical
Cross.The corresponding semantic title of grid cell, including the title of indoor article etc..But not limited to this.
In the present embodiment, there is provided a kind of autonomous formula equipment, as shown in figure 39, the autonomous formula equipment can be wrapped
Include：Receiver module 3902, the corresponding room area mark of room area and/or indoor article for receiving computing device transmission
Corresponding semantic name identification.Enquiry module 3904, is connected with receiver module 3902, for being inquired about in grating map data
Room area is identified and/or the corresponding grid cell of semantic name identification.Control module 3906, is connected with enquiry module 3904
Connect, the grid cell generation inquired for controlling autonomous formula equipment to be directed to is acted.
In some examples, as it was previously stated, the grating map data of indoor map may include multiple grid cells, each grid
Lattice unit one raster data of correspondence, each raster data includes polytype information, and information type includes：Grid cell
By the corresponding semantic title of room area and/or grid cell belonging to type and grid.
As an example, grid cell may include to pass through by type, barrier or at least one limitation it is logical
Cross.The corresponding semantic title of grid cell, including the title of indoor article etc..But not limited to this.
In the present embodiment, a kind of autonomous formula equipment is additionally provided, as shown in figure 40, the autonomous formula equipment bag
Include：Acquisition module 4002, for obtaining voice control command, wherein, the voice control command carries room area and/or language
Adopted title.Enquiry module 4004, is connected with acquisition module 4002, for according to room area and/or semantic title in grid
Corresponding grid cell is inquired about in map datum.Control module 4006, is connected with enquiry module 4004, for according to voice control
System order makes autonomous formula equipment be directed to the grid cell generation action for inquiring.
In some examples, grating map data include multiple grid cells, each grid cell one grid number of correspondence
According to each raster data includes polytype information, and information type includes：Grid cell by type and grid institute
The corresponding semantic title of room area and/or grid cell of category.
As an example, grid cell may include to pass through by type, barrier or at least one limitation it is logical
Cross.The corresponding semantic title of grid cell, including the title of indoor article etc..But not limited to this.
In some examples, enquiry module 4004 may include the first query unit (not shown in Figure 40), for according to room
Inner region and first incidence relation and/or semantic title of room area mark and the second incidence relation of semantic name identification,
Determine the corresponding room area mark of room area and/or the corresponding semantic name identification of semantic title；And, the second cargo tracer
First (not shown in Figure 40), is connected with the first enquiry module, for what is marked in the raster data according to each grid cell
Room area mark determines the corresponding grid cell of room area, and/or is marked according in the raster data of each grid cell
Semantic name identification determine the corresponding grid cell of semantic title.
Example one
In this example, flow chart of the user by user terminal editor's indoor map is shown, it is as shown in figure 41, indoor
The generation method of map includes step 4101 to step 4109.
Step 4101, autonomous formula equipment explores indoor environment, generates the indoor map for describing indoor environment.
As it was previously stated, autonomous formula equipment can use SLAM technologies, Active searching is carried out to indoor environment, and according to adopting
The environmental information for collecting sets up indoor map.In this example, illustrated as a example by setting up grating map.
Step 4102, autonomous formula device-to-server sends the indoor map of generation.
Step 4103, server sends indoor map to user terminal.
Wherein, step 4102 and step 4103 are optional step, and in some examples, autonomous formula equipment can be to user
Terminal sends indoor map.
Step 4104, user terminal displays indoor map.
Step 4105, user terminal responds editor of the user to indoor map.
In step 4105, user may include but be not limited to the editor of indoor map, right in method as shown in figure 12
Room area is selected and carries out semantic description, so as to obtain the semantic title of such as indoor article or indoor location；Such as Figure 18 or
To the editor by type of grid cell in indoor map in method shown in 19, for example, by can be by the grid list of type
Unit be compiled as limitation pass through or barrier, will limitation by be compiled as can by or barrier, barrier is compiled as to pass through
Or limitation passes through；Indoor map is divided into multiple room areas in method as shown in Figure 24 or 26.
Step 4106, user terminal, to the editor of indoor map, produces the indoor ground for including content of edit according to user
Figure.
Wherein, the corresponding map datum of indoor map of content of edit is included as it was previously stated, will not be repeated here.
Step 4107, user terminal sends the indoor map for including content of edit to server.
Step 4108, server sends the indoor map for including content of edit to autonomous formula equipment.
Wherein, step 4107 and step 4108 are optional step, and in some examples, user terminal can be to autonomous formula
Equipment sends the indoor map for including content of edit.
Step 4109, autonomous formula equipment receives and stores the indoor map for including content of edit.
In some examples, autonomous formula equipment can relative users to the editor of indoor map, according to user to interior
The editor of map, generation includes the indoor map of content of edit.
Example two
In this example, the process of user and autonomous formula equipment interactive voice is shown, as shown in figure 42, voice is handed over
Mutually include step 4201 to 4204.
Step 4201, receives the phonetic entry of user.
Step 4202, the phonetic entry that identification is received, obtains the corresponding text of phonetic entry.
In step 4202, in some examples, autonomous formula equipment has speech recognition component, and autonomous formula sets
It is standby to carry out speech recognition to phonetic entry.In some examples, phonetic entry can be sent to one by autonomous formula equipment
Or multiple servers, one or more servers have speech recognition component, by one or more servers to phonetic entry
Speech recognition is carried out, obtains the corresponding text of phonetic entry, and the corresponding text of phonetic entry is sent into autonomous formula setting
It is standby.
Step 4203, semantic analysis is carried out to text, extracts the mission bit stream and/or positional information included in text.
Step 4204, using indoor map, according to mission bit stream and/or positional information control autonomous formula equipment.
As it was previously stated, according to mission bit stream and/or positional information control autonomous formula equipment in step 4204, it may include
But it is not limited to, the autonomous formula equipment that makes as shown in figure 31 moves to certain room area；As shown in figure 32 will independently move
The moving range of dynamic formula equipment is limited at least one room area；The autonomous formula equipment that makes as shown in figure 33 is moved to
Certain article nearby or the other positions with semantic title.
Example three
In this example, show that user controls the process of autonomous formula equipment by user terminal, as shown in figure 43,
The process includes step 4301 to step 4306.
Step 4301, user terminal shows indoor map over the display.
In step 4301, indoor map may include polytype information, can grid cell by type, wherein not
Can be shown using different visual elements with the grid cell by type.Grid cell may include to pass through by type,
Barrier, at least one limitation one of pass through or are combined.
Indoor map may also include multiple room areas, wherein different room areas is shown by different visual elements,
The color of such as different room areas is different.
Indoor map may also include semantic title, and semantic title is displayed at the region of its corresponding position, and language
The corresponding position of adopted title can be indicated with visual elements.
Step 4302, user terminal response user passes through control of the indoor map to autonomous formula equipment.
In step 4302, room area is may specify, autonomous formula equipment is moved to selected room area, or
Autonomous formula equipment is set to perform task in selected room area.
In step 4302, the corresponding position of semantic title is may specify, autonomous formula equipment is moved to semantic title
Corresponding position, or make autonomous formula equipment that task is performed near selected position or its.
Step 4303, user terminal produces control message according to the operation of user.
Step 4304, user terminal sends control message to autonomous formula equipment.
Step 4305, autonomous formula equipment receiving control message.
Step 4306, autonomous formula equipment is acted according to control message generation.
Example four
In this example, the method for showing the operating point using indoor map planning autonomous formula equipment, such as Figure 44
It is shown, 4402 to step that the method comprising the steps of 4404.
Step 4402, the indoor map for describing indoor environment that display is previously generated.
At least part of information of the indoor map is independently explored in environment indoors in advance according to autonomous formula equipment
Arrive.
Indoor map can use characteristics map, characteristics map to represent ring using relevant set feature (such as point, straight line, face)
Border.Indoor map can also use topological map, and topology is expressed as indoor environment the topological structure with node and associated wiring
Figure, wherein node represents the critical positions point (turning, door, elevator ＆ stairs etc.) in environment, while the connection between representing node is closed
System, such as corridor.Indoor map can also use grating map.It should be appreciated that other indoor map method for expressing are also feasible,
The present embodiment is not limited this.
Step 4404, in response to the selection on user indoors map to operating point, institute is provided to autonomous formula equipment
The information of the operating point of selection.
In some examples, can selected operating point include indoor map in pre-define the corresponding position of semantic description
Put, wherein semantic description is related to article in indoor environment and/or position.Alternatively, semantic description and its corresponding position can
Obtained according to the method as shown in Figure 12 etc., but not limited to this.
Can the corresponding position of pre-recorded semantic description.In step 4402, semantic description and its correspondence can be shown
Position, semantic description and/or the corresponding position of semantic description can be shown as interactive graphics user element.Can respond to semanteme
Description or the selection of the corresponding position of semantic description, operating point is set to by the corresponding position of semantic description.
In step 4404, the corresponding semantic description in operating point and/or operating point pair can be provided to autonomous formula equipment
The coordinate of the position answered.The semantic description of offer can be semantic description in itself, or semantic description mark (ID).
In some examples, the type of indoor map is grating map, wherein, grating map includes multiple grid cells,
The raster data of each grid cell includes polytype information, and every kind of information type represents at least one information.Semanteme is retouched
State and record in for the information type for representing semantic description.Description on grating map can be found in that the present embodiment is foregoing to be retouched
State, will not be repeated here.
In some real-time examples, when the operating point of selection is for multiple, can be according to the order of selection operating point to autonomous shifting
Dynamic formula equipment provides the job order of multiple operating points.
In some real-time examples, may also be responsive in being set to path between at least part of operating point on user indoors map
Put, the path between set operating point is provided to autonomous formula equipment.User can be (such as touch-sensitive aobvious by input interface
Show device, touch pad, keyboard, mouse etc.) sketch the contours operating point on map between path.For example, detectable and touch-sensitive display
Contact, if the track that contacts connects operating point while contact, the track that can be contacted is used as between operating point
Path, alternatively can be fitted treatment to the track for contacting, and the path of navigation is suitable in order to produce.It should be appreciated that this
Embodiment is not limited to this.
In some examples, the selection of the task in user to be performed in operating point is may also be responsive to, to autonomous formula
Equipment provides selected task.As an example, can selected task may include but be not limited to：Purification of air, video recording,
Take pictures, voice reminder communicates (send control instruction etc.) with other equipment in indoor environment.
In some examples, may also be responsive in user to autonomous type mobile device the attitude of operating point setting, to from
Main mobile unit provides attitude of the autonomous formula equipment in operating point.The attitude of autonomous formula equipment may include but not limit
In：The height of autonomous formula equipment, the attitude of the limbs of autonomous formula equipment, autonomous formula device signal transmitter
Orientation, the direction of the display of autonomous formula equipment, the camera of autonomous formula equipment, microphone, direction of loudspeaker etc..
For example, for the autonomous formula equipment for monitoring, multiple work for monitoring can be set in environment indoors
Point, the operating point for monitoring may include but be not limited to window, basket cot, pet nest etc..Settable autonomous formula equipment
Camera direction, to take pictures for monitored object or recorded video etc..
For example, autonomous formula equipment can have it is infrared wait signal projector, can to such as TV in indoor environment,
The housed devices such as air-conditioning, water heater send control signal.The attitude of settable autonomous formula equipment, in order to operating point pair
The equipment answered sends control signal.
In some examples, also including providing the time that autonomous formula equipment performs task to autonomous formula equipment,
Wherein, different operating points can be set different times, but not limited to this.
In this example, further it is shown that a kind of device for planning autonomous formula equipment operating point, as shown in figure 45,
The device includes：Display module 4502, for showing the indoor map for describing indoor environment for previously generating, wherein, room
At least part of information of interior map is obtained according to autonomous exploration in the advance environment indoors of autonomous formula equipment.Planning module
4504, it is connected with display module 4502, in response to the selection on user indoors map to operating point, to autonomous
Formula equipment provides the information of selected operating point.
In some examples, can selected operating point include indoor map in pre-define the corresponding position of semantic description
Put, wherein semantic description is related to article in indoor environment and/or position.Semantic description and its corresponding position can be according to such as figures
Method shown in 12 grades is obtained, but not limited to this.
Can the corresponding position of pre-recorded semantic description.Display module 4502 can show semantic description and its corresponding
Position, semantic description and/or the corresponding position of semantic description can be shown as interactive graphics user element.Can respond and semanteme is retouched
State or the corresponding position of semantic description selection, the corresponding position of semantic description is set to operating point.
Planning module 4504 can provide the corresponding semantic description in operating point and/or operating point correspondence to autonomous formula equipment
Position coordinate.The semantic description of offer can be semantic description in itself, or semantic description mark (ID).Independently
Mobile unit can find the corresponding grid in operating point according to semantic description or the mark of semantic description in grating map data
Unit.
In some examples, the type of indoor map is grating map, wherein, grating map includes multiple grid cells,
The raster data of each grid cell includes polytype information, and every kind of information type represents at least one information.Semanteme is retouched
State and record in for the information type for representing semantic description.Description on grating map can be found in that the present embodiment is foregoing to be retouched
State, will not be repeated here.
In some real-time examples, when the operating point of selection is for multiple, can be according to the order of selection operating point to autonomous shifting
Dynamic formula equipment provides the job order of multiple operating points.
In some real-time examples, may also be responsive in being set to path between at least part of operating point on user indoors map
Put, the path between set operating point is provided to autonomous formula equipment.
In some examples, the selection of the task in user to be performed in operating point is may also be responsive to, to autonomous formula
Equipment provides selected task.As an example, can selected task may include but be not limited to：Purification of air, video recording,
Take pictures, voice reminder communicates (send control instruction etc.) with other equipment in indoor environment.
In some examples, may also be responsive in user to autonomous type mobile device the attitude of operating point setting, to from
Main mobile unit provides attitude of the autonomous formula equipment in operating point.
In another embodiment, a kind of software is additionally provided, the software is used to perform above-described embodiment and preferred reality
Apply the technical scheme described in mode.
In another embodiment, a kind of storage medium is additionally provided, be stored with above-mentioned software in the storage medium, should
Storage medium is included but is not limited to：CD, floppy disk, hard disk, scratch pad memory etc..
Obviously, those skilled in the art should be understood that each module or each step of the above-mentioned disclosure can be with general
Computing device realize that they can be concentrated on single computing device, or be distributed in multiple computing devices and constituted
Network on, alternatively, the program code that they can be can perform with computing device be realized, it is thus possible to they are stored
Performed by computing device in the storage device, and in some cases, can be with different from shown in order execution herein
The step of going out or describe, or they are fabricated to each integrated circuit modules respectively, or by the multiple modules in them or
Step is fabricated to single integrated circuit module to realize.So, the disclosure is not restricted to any specific hardware and software combination.
The preferred embodiments of the present invention are the foregoing is only, is not intended to limit the invention, for the skill of this area
For art personnel, the disclosure can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (14)
1. a kind of indoor map generation method, it is characterised in that including：
The indoor map for describing indoor environment is shown, wherein, the type of the indoor map is grating map；
Indoor environment is divided into the map partitioning operation of multiple room areas in response to user, is operated according to the map partitioning
The indoor map is divided into multiple room areas；And
The room area belonging to correspondence grid cell is marked in the corresponding grating map data of each room area, is marked
There are the grating map data of multiple room areas.
2. the method for claim 1, it is characterised in that the grating map data include multiple grid cells, each
Grid cell one raster data of correspondence, each raster data includes various different types of information, and information type includes：Pass through
Type and affiliated room area；
Wherein, the room area belonging to grid cell is marked in the corresponding information of affiliated room area of grid cell.
3. method as claimed in claim 1 or 2, it is characterised in that in the corresponding grating map data of each room area
Room area belonging to mark grid cell, including：
Generate the room area mark of each room area；And
The room area of each room area is marked in the raster data of the corresponding grid cell of room area.
4. method as claimed in claim 3, it is characterised in that also include：
Obtain the description information of room area；And
Set up the incidence relation of room area mark and description information.
5. the method for claim 1, it is characterised in that indoor environment is divided into multiple room areas in response to user
Map partitioning operation, including：
Detection contact with the indoor map；And
If the track of contact while continuous contact is detected meets default map partitioning condition, according to the contact
Track the indoor map is divided into multiple room areas.
6. method as claimed in claim 5, it is characterised in that the default map partitioning condition includes：The rail of the contact
Mark constitutes the rail of closed area or the contact with the track of indoor environment border composition closed area or the contact in itself
The region of mark covering meets default.
7. method as claimed in claim 5, it is characterised in that also include：Shown while continuous contact is detected described
The track of contact.
8. a kind of indoor map generating means, it is characterised in that including：
Display module, for showing the indoor map for describing indoor environment, wherein, the type of the indoor map is grid
Map；
Division module, the map partitioning operation for indoor environment to be divided into multiple room areas in response to user, according to institute
State map partitioning operation and the indoor map is divided into multiple room areas；And
Mark module, for marking the interior belonging to correspondence grid cell in the corresponding grating map data of each room area
Region, obtains being marked with the grating map data of multiple room areas.
9. device as claimed in claim 8, it is characterised in that the grating map data include multiple grid cells, each
Grid cell one raster data of correspondence, each raster data includes various different types of information, and information type includes：Pass through
Type and affiliated room area；Wherein, the mark module, in the corresponding information of affiliated room area of grid cell
Room area belonging to mark grid cell.
10. device as claimed in claim 8 or 9, it is characterised in that the mark module, for generating each room area
Room area mark；And, the room area of each room area is marked at the corresponding grid cell of room area
Raster data in.
11. devices as claimed in claim 10, it is characterised in that also include：Acquisition module, for obtaining retouching for room area
State information；And, relating module, the incidence relation for setting up room area mark and description information.
12. devices as claimed in claim 9, it is characterised in that the division module, for detecting and the indoor map
Contact；And, if the track of the contact meets default map partitioning condition while continuous contact is detected, according to institute
The indoor map is divided into multiple room areas by the track for stating contact.
13. devices as claimed in claim 12, it is characterised in that the default map partitioning condition includes：The contact
The track that track and indoor environment border constitute closed area or the contact constitutes closed area or the contact in itself
The region of track covering meets default.
14. devices as claimed in claim 12, it is characterised in that the display module, are additionally operable to detecting continuous contact
While show the track of the contact.
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